Master Thesis - Hochschule Bonn-Rhein-Sieg

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4. Overall evading concept Master Thesis Björn Ostermann page 58 of 126 would check the object’s accessibility simultaneously, finding it free, and afterwards block it simultaneously and continue with their task. This is prevented in the retrieval routine by rechecking the access after the block. The reading procedure does not need to concern itself with other tasks reading the variable simultaneously, since in that case the variable is not changed.
5. Algorithms Master Thesis Björn Ostermann page 59 of 126 5 Algorithms for robotic evasion Chapter 4 gives an overview on the flow of the data and the internal connection of the subparts and algorithms, which control the robot by analysis of the 3D images of the camera and the position information of the robot. To understand this project in total, a deeper view on the algorithms is necessary. Therefore the used algorithms are explained in this chapter in detail. Some algorithms have been developed in previous work [78], but only the depiction of the acquired information (see chapter 5.1) could be reused without further improvement. 5.1 Depicting the acquired information As described in chapter 4.3.1 it is necessary, to show the images and information acquired from the camera, in order to set up the workplace and explain the camera’s function during demonstrations. These algorithms are not necessary in the object avoidance process of the robot. The algorithms controlling the robot are designed to work with the unmodified data, delivered by the camera. Figure 37 shows two sample images, taken during operations. a) b) Figure 37: Sample images, taken in the workplace a) reflection image and b) distance image (see also Figure 21) The image data are acquired from the camera with the help of the C++ library supplied by the camera’s manufacturer (see chapter 3.4). The library’s function, responsible for the data acquisition, fills a prepared buffer variable in the developed program with an array of float numbers followed by an array of unsigned integer numbers. This process is described in detail in previous work [78]. The float numbers represent the spherical distance data in meter, the integer values indicate the quantity of reflected light per pixel. To translate the spherical distance data into carthesian coordinates, the vectors of the respective pixels have to be used. This step is also achieved by a function supplied by the camera’s manufacturer. For demonstrative purposes it is sufficient to only display the carthesian value of the z-axis, the one
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Master Thesis ”Industrial jointed
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Statutory Declaration Master Thesis
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Contents Master Thesis Björn Oster
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Page 9 and 10: 1. Introduction Master Thesis Björ
Page 11 and 12: 2. Overview on human-robot Master T
Page 19 and 20: 3. Hard- and software Master Thesis
Page 33 and 34: 4. Overall evading concept Master T
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Page 61 and 62: 5. Algorithms Master Thesis Björn
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7. Conclusion and Outlook Master Th
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7. Conclusion and Outlook Master Th
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8. Bibliography Master Thesis Björ
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8. Bibliography Master Thesis Björ
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9. List of Figures Master Thesis Bj
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9. List of Figures Master Thesis Bj
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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